
where \(\mathcal {H}(\pi ^a)\)  denotes the entropy of policy \(\pi ^a\) , \(\lambda _{\textrm {critic}}\)  and \(\lambda _{\textrm {entropy}}\)  vary as shown in Table REF . In Section REF , we compare IPPO to a baseline in which both policy and value clipping are ablated, yielding a variant of IAC [1]}.
